Indoor Navigation Strategies for Aerial Autonomous Systems

289 Pages·2016·15.79 MB·English

by  Pedro Castillo García

INDOOR
NAVIGATION
STRATEGIES
FOR AERIAL
AUTONOMOUS
SYSTEMS

INDOOR
NAVIGATION
STRATEGIES
FOR AERIAL
AUTONOMOUS
SYSTEMS
PEDROCASTILLOGARCÍA
Sorbonne Universités, Université de Technologie
deCompiègne,CNRS,UMR7253Heudiasyc,
Compiègne,France
LAURAELENAMUNOZHERNANDEZ
Rennes,France
PEDROGARCÍAGIL
UniversidadPolitécnicadeValencia,ISA,
Valencia,Spain
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ABOUT THE AUTHORS
Pedro Castillo García received his BS degree in Electromechanical En-
gineering from the Instituto Tecnológico de Zacatepec, Morelos, Mexico,
in 1997, the MSc degree in Electrical Engineering from the Centro de
Investigación y de Estudios Avanzados (CINVESTAV), Mexico, in 2000,
and the PhD degree in Automatic Control from the Université de Tech-
nologie de Compiègne, France, in 2004. He has held visiting positions at
the University of Sydney, Australia (2004), at the Massachusetts Institute
of Technology (MIT) in 2005, at the Universidad Politécnica de Valencia,
Spain(2005).HereceivedthebestPhDthesisofAutomaticControlaward
from club EEA, France, in 2005. P. Castillo received his HDR (Habilita-
tion àDiriger desRecherches)degreefromtheUniversitéde Technologie
de Compiègne, France in January 16th, 2014. He has held a visiting posi-
tion at the LAFMIA UMI CNRS 3175 CINVESTAV-IPN, Mexico, from
December 2012 to November 2014. At the moment, he is a researcher
at the French National Research Foundation (CNRS), in the Laboratory
Heudiasyc, at the Université de Technologie de Compiègne, France. He
has co-authoredone book for Springer-Verlagand co-authoredmore than
25papersininternationaljournals.Hisresearchtopicscoverreal-timecon-
trolapplications,nonlineardynamicsandcontrol,aerialvehicles,visionand
underactuated mechanical systems.
Laura Elena Munoz Hernandez was born in Hidalgo, Mexico. She
obtained her BS degree in Electronics and Telecommunications Engineer-
ingin 2005 and herMScdegreein Automation and Controlin 2007 from
the Universidad Autónoma del Estado de Hidalgo, Mexico. In 2012 she
obtained her PhD degree in Automatic Control from the Université de
TechnologiedeCompiègne,France.DuringherPhDstudiesshehadscien-
tific internships at the Universidad Politécnica de Valencia, Spain, in 2012.
She currently works as a research and development engineer for a start-
up in France. Her research interests cover real-time control applications,
embedded control systems, robust nonlinear control, optimal control, and
vision and control of autonomous vehicles.
Pedro García GilwasborninValencia,Spain.In2007heobtainedhis
PhD in Control Systems and Industrial Computing from the Universidad
Politécnica de Valencia, Spain. He is currently an Assistant Professor of
ix
x AbouttheAuthors
AutomaticControlattheUniversidadPolitécnicadeValencia.Hehasbeen
avisitingresearcherattheLundInstituteofTechnology,Lund,Sweden,in
2006, at Université de Technologie de Compiègne, Compiègne, France,
in2007,atUniversityofFlorianopolis,Brazil,in2010,attheUniversityof
Sheffield,UK,in2014,andattheUniversityofHangzhou,China,in2016.
He has co-authored more than 20 papers in the top impact journals. His
researchinterestsarewithinthebroadareaoftimedelaysystems,embedded
control systems, and control of autonomous vehicles.
PREFACE
Thepurposeofthisbookistogivenecessaryandsufficienttheoreticalbasis
for those interested in working with Unmanned Aerial Vehicles (UAVs).
Likewise,itprovides,forthoseworkinginthisarea,asubstantialtheoretical
and practical complement to their work.
When we work in autonomous navigation for aerial vehicles, it is
common to consider ideal cases, i.e., full knowledge of the states, ideal
measurements of the sensors, and non-external (or known) perturbations.
Nevertheless, in flight tests this is not the case. The book’s benefits to the
audience are several: first of all, we propose three different approaches to
mathematically represent the dynamics of an aerial vehicle. In one of these
methodologies the quaternion technique is used to solve the singularity
problem in UAVs. Secondly, detailed information is provided about how
to fuse inertial data for attitude estimation with the results comparable to
those of an expensive and commercial IMU (Inertial Measurement Unit).
In addition, the book proposes substantial theoretical and practical valida-
tion to improve dropped or noisy signals. This part is crucial when using
commercial sensors in handmade aerial prototypes. The UAV localization
problem in this book is tackled by proposing an observer-control scheme
using only the basic sensors in a drone.
Forthosededicatedtocontrolsystems,differentcontrolstrategies,from
classical to modern algorithms, haven been proposed using various ap-
proaches. One of the goals settled while writing this book was to give
to the reader a wide spectrum of techniques so he/she could choose the
most appropriate for his/her needs. Algorithm design considers a possible
outdoor application, i.e., robustness with respect to unknown perturba-
tions such as wind. Last but not least, three tools are given to improve
autonomous navigation or to assist the manual pilot. The first one consid-
ers specific tasks in defined conditions (time, velocity, etc.) to generate a
trajectory and follows it using an UAV. The second tool is used to avoid
crashes when obstacles are present along the trajectory. The last approach
considersasituationwhentheUAVisperformingasemi-autonomousmis-
sion and its pilot suddenly loses sight of the vehicle. Herethe vehicle states
are sent to the pilot to provide him/her with more information about the
vehicle’sflight conditions, bymeansofahaptic joystick, andtoimproveits
performance (teleoperation mode).
xi
xii Preface
Aquadrotorvehicleischosenasanaerialconfigurationinthisbookdue
to its popularity among researchers. However, all the algorithms proposed
may be adapted to work with different aerial configurations. Our results
are validated in simulations, real time or flight tests on different platforms
(commercialorhandmadeaerialprototypes)andwithdifferentsensors,and
this makes the book valuable.
ACKNOWLEDGMENTS
Authors acknowledge support from the CONACyT under basic research
grants for PhD Scholarships. This work has been sponsored by the French
governmentresearchprogrammeInvestissementsd’avenirthroughtheRobotex
EquipmentofExcellence(ANR-10-EQPX-44).Theauthorswouldliketo
thank G. Sanahuja from Heudiasyc Lab in France for his help in realizing
the experiments.
We thank Ana Claudia A. Garcia, Sonnini R. Yura, Mohanambal
Natarajan and the edition team at Elsevier for guidance and patience
throughout the publishing process, as well as their team for carefully re-
viewing this work during this process.
P. Castillo, L.E. Munoz & P. García
July 2016
xiii
PART 1
Background
Civil and military applications of Unmanned Aerial Vehicles (UAVs) have
increased considerably for many years. The hovering ability of Vertical
Take-Off and Landing (VTOL) vehicles makes them a suitable choice
for many indoor and outdoor applications. The design of controllers and
estimators that allow for attitude stabilization, autonomous flight, path fol-
lowing, avoiding obstacles, etc. have been the focus of several groups not
only in the research but also in the hobbyist community, which has re-
sulted in significant and interesting breakthroughs in the UAV field. The
first part of the book is dedicated to an overview of mathematical defi-
nitions and UAV models used throughout the book. The objective is to
introducegeneralconceptssothatapersonwithnoexperienceinthisfield
could quickly learn the basics whereas an experienced person could either
use it as a reference or to extend his/her knowledge.
In addition, a state-of-the-art of the topics covered in the chapters is
presented in this first part. We focus our study on the quadrotor UAV
configuration, yet the literature review is not limited to items used in
quadrotors and gives an overall picture of the different topics covered in
the book.
1